version: 66.06
glider: 523
mission: 4
dive: 764
start: 7 21 113 11 7 21
data:
$ID,523
$MISSION,4
$DIVE,764
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,157
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51859
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2118.95
$TGT_DEFAULT_LON,-15758
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-51452.637
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,70
$PITCH_MAX,3840
$C_PITCH,2642
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3847
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1996
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-44.423622
$PRESSURE_SLOPE,0.00011597706
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042940481
$SEABIRD_T_H,0.00062789384
$SEABIRD_T_I,2.2877364e-05
$SEABIRD_T_J,2.3382993e-06
$SEABIRD_C_G,-10.032345
$SEABIRD_C_H,1.1112347
$SEABIRD_C_I,0.0036120038
$SEABIRD_C_J,-0.00017978948
$GPS1,105504,2106.681,-15754.825,24,1.0,24,9.8
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-73.2
$GPS2,110629,2106.613,-15754.859,16,2.0,16,9.8
$SPEED_LIMITS,0.165,0.256
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.255,0.021
$KALMAN_X,-69488.6,-307.4,248.7,67184.2,-2210.2
$KALMAN_Y,5806.3,-41.9,80.7,-10309.0,-216.2
$MHEAD_RNG_PITCHd_Wd,75.4,20686,-17.6,-9.554
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.76,-146.0,0.0,0.0,0,102,0.00,0.00,-77.57,0.000,6,0.000,0.000,30,1940,3395,0,0,0,0,0,0
$GC,107,-0.76,-146.0,3.9,-6.3,13,121,9.82,2.22,0.00,0.000,4,0.224,0.054,2379,3333,3396,0,0,0,0,0,0
$GC,130,-0.76,-146.0,12.1,-25.1,16,138,0.00,2.30,0.00,0.000,6,0.000,0.051,2379,1931,3398,0,0,0,0,0,0
$GC,300,-0.76,-146.0,34.2,-11.0,47,306,0.00,2.35,0.00,0.000,4,0.000,0.073,2379,504,3398,0,0,0,0,0,0
$GC,405,-0.76,-146.0,45.3,-9.7,66,412,0.00,2.25,0.00,0.000,6,0.000,0.044,2370,1909,3398,0,0,0,0,0,0
$GC,743,-0.76,-146.0,76.3,-8.9,127,748,0.00,2.33,0.00,0.000,4,0.000,0.067,2370,508,3399,0,0,0,0,0,0
$GC,996,-0.76,-146.0,98.0,-8.0,154,1001,0.12,2.20,0.00,0.000,6,0.159,0.042,2392,1929,3399,0,0,0,0,0,0
$GC,1324,-0.76,-146.0,117.3,-6.5,184,1328,0.00,2.28,0.00,0.000,4,0.000,0.063,2383,3333,3400,0,0,0,0,0,0
$GC,1463,-0.76,-146.0,128.1,-8.0,196,1467,0.00,2.25,0.00,0.000,6,0.000,0.050,2383,1923,3400,0,0,0,0,0,0
$GC,1791,-0.76,-146.0,155.3,-8.3,226,1795,0.00,2.28,0.00,0.000,4,0.000,0.061,2374,3333,3401,0,0,0,0,0,0
$GC,1927,-0.76,-146.0,166.3,-8.0,238,1931,0.00,2.25,0.00,0.000,6,0.000,0.050,2374,1924,3401,0,0,0,0,0,0
$GC,2255,-0.76,-146.0,191.7,-7.5,268,2259,0.00,2.30,0.00,0.000,4,0.000,0.071,2374,508,3401,0,0,0,0,0,0
$GC,2471,-0.76,-146.0,207.0,-6.2,283,2476,0.12,2.20,0.00,0.000,6,0.154,0.041,2397,1927,3401,0,0,0,0,0,0
$GC,2799,-0.76,-146.0,228.7,-7.7,299,2803,0.00,2.33,0.00,0.000,4,0.000,0.064,2397,509,3401,0,0,0,0,0,0
$GC,2894,-0.76,-146.0,237.7,-9.5,303,2898,0.00,2.20,0.00,0.000,6,0.000,0.041,2390,1933,3401,0,0,0,0,0,0
$GC,3218,-0.76,-146.0,258.6,-5.2,319,3222,0.00,2.28,0.00,0.000,4,0.000,0.064,2379,3341,3401,0,0,0,0,0,0
$GC,3370,-0.76,-146.0,267.0,-5.7,325,3375,0.00,2.28,0.00,0.000,6,0.000,0.051,2379,1921,3401,0,0,0,0,0,0
$GC,3688,-0.76,-146.0,287.0,-7.1,341,3692,0.00,2.28,0.00,0.000,4,0.000,0.067,2379,512,3401,0,0,0,0,0,0
$GC,3808,-0.76,-146.0,296.3,-6.9,346,3812,0.00,2.20,0.00,0.000,6,0.000,0.041,2370,1936,3400,0,0,0,0,0,0
$GC,4121,-0.76,-146.0,312.9,-4.5,355,4125,0.00,2.30,0.00,0.000,4,0.000,0.063,2369,514,3400,0,0,0,0,0,0
$GC,4317,-0.76,-146.0,321.3,-5.2,359,4322,0.12,2.20,0.00,0.000,6,0.151,0.041,2393,1934,3399,0,0,0,0,0,0
$GC,4665,-0.76,-146.0,342.1,-6.8,368,4669,0.00,2.33,0.00,0.000,4,0.000,0.063,2393,512,3398,0,0,0,0,0,0
$GC,4844,-0.76,-146.0,354.8,-6.3,372,4849,0.00,2.20,0.00,0.000,6,0.000,0.042,2386,1925,3396,0,0,0,0,0,0
$GC,5169,-0.76,-146.0,374.9,-6.0,380,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1925,3396,0,0,0,0,0,0
$GC,5493,-0.76,-146.0,387.3,-3.3,388,5497,0.00,2.35,0.00,0.000,4,0.000,0.064,2385,511,3394,0,0,0,0,0,0
$GC,5556,-0.76,-146.0,389.5,-3.4,389,5560,0.00,2.22,0.00,0.000,6,0.000,0.044,2377,1927,3393,0,0,0,0,0,0
$GC,5905,-0.76,-146.0,407.1,-6.4,398,5909,0.00,2.35,0.00,0.000,4,0.000,0.065,2376,506,3391,0,0,0,0,0,0
$GC,5973,-0.76,-146.0,412.9,-9.2,399,5977,0.00,2.25,0.00,0.000,6,0.000,0.044,2367,1926,3390,0,0,0,0,0,0
$GC,6309,-0.76,-146.0,438.4,-7.5,408,6313,0.00,2.35,0.00,0.000,4,0.000,0.067,2367,515,3389,0,0,0,0,0,0
$GC,6349,-0.76,-146.0,441.3,-6.8,408,6355,0.12,2.25,0.00,0.000,6,0.160,0.044,2390,1932,3389,0,0,0,0,0,0
$STATE,6515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6515,begin apogee
$GC,6523,-0.17,0.0,452.3,6.5,413,6650,0.60,0.00,124.00,0.752,6,0.111,0.000,2585,1997,2800,0,0,0,0,0,0
$STATE,6651,end apogee,CONTROL_FINISHED_OK
$STATE,6651,begin climb
$GC,6654,0.76,146.0,452.4,0.0,416,6793,0.85,2.40,129.10,0.727,4,0.068,0.066,2896,586,2202,0,0,0,0,0,0
$GC,6815,0.76,146.0,436.9,10.5,419,6821,0.00,2.33,0.00,0.000,6,0.000,0.045,2896,2007,2200,0,0,0,0,0,0
$GC,7146,0.76,146.0,392.7,13.4,428,7150,0.00,2.35,0.00,0.000,4,0.000,0.063,2906,582,2196,0,0,0,0,0,0
$GC,7248,0.79,162.6,382.6,8.8,430,7268,0.00,2.22,14.85,0.655,6,0.000,0.047,2906,1996,2136,0,0,0,0,0,0
$GC,7595,0.81,185.2,352.8,8.6,438,7620,0.00,2.33,20.85,0.665,4,0.000,0.062,2914,581,2044,0,0,0,0,0,0
$GC,7713,0.81,185.2,340.0,11.4,440,7717,0.00,2.25,0.00,0.000,6,0.000,0.046,2914,2000,2043,0,0,0,0,0,0
$GC,8044,0.81,185.2,303.0,10.4,448,8048,0.00,2.35,0.00,0.000,4,0.000,0.064,2924,578,2042,0,0,0,0,0,0
$GC,8152,0.81,185.2,289.9,12.9,452,8156,0.00,2.25,0.00,0.000,6,0.000,0.048,2924,1996,2041,0,0,0,0,0,0
$GC,8479,0.81,185.2,253.7,10.1,468,8483,0.00,2.25,0.00,0.000,4,0.000,0.063,2924,3402,2040,0,0,0,0,0,0
$GC,8638,0.81,185.2,237.5,10.1,475,8642,0.00,2.25,0.00,0.000,6,0.000,0.048,2933,1983,2038,0,0,0,0,0,0
$GC,8960,0.88,236.6,210.7,7.3,491,9010,0.00,2.33,45.20,0.607,4,0.000,0.060,2934,3403,1837,0,0,0,0,0,0
$GC,9052,0.89,245.9,204.1,9.1,495,9067,0.00,2.28,10.35,0.537,6,0.000,0.048,2941,1995,1796,0,0,0,0,0,0
$GC,9389,0.89,245.9,172.1,11.5,524,9393,0.00,2.33,0.00,0.000,4,0.000,0.064,2941,3403,1795,0,0,0,0,0,0
$GC,9452,0.89,245.9,164.0,12.8,529,9456,0.00,2.25,0.00,0.000,6,0.000,0.050,2949,1992,1794,0,0,0,0,0,0
$GC,9779,0.89,245.9,123.8,10.9,559,9783,0.00,2.35,0.00,0.000,4,0.000,0.064,2949,3405,1794,0,0,0,0,0,0
$GC,9831,0.89,245.9,118.1,11.5,563,9835,0.12,2.25,0.00,0.000,6,0.135,0.050,2922,1992,1794,0,0,0,0,0,0
$GC,10158,0.92,272.2,89.1,8.4,593,10187,0.00,0.00,24.17,0.499,6,0.000,0.000,2922,1992,1689,0,0,0,0,0,0
$GC,10513,0.99,329.9,63.0,7.0,648,10568,0.12,2.40,49.80,0.482,4,0.075,0.062,3002,3403,1453,0,0,0,0,0,0
$GC,10651,0.99,329.9,48.3,12.2,671,10657,0.17,2.30,0.00,0.000,6,0.130,0.051,2961,1991,1451,0,0,0,0,0,0
$GC,10985,1.02,351.5,24.3,8.6,732,11013,0.00,2.35,19.17,0.435,4,0.000,0.072,2968,587,1363,0,0,0,0,0,0
$GC,11049,1.02,355.8,19.1,9.4,742,11063,0.00,2.28,5.18,0.344,6,0.000,0.045,2968,1995,1346,0,0,0,0,0,0
$STATE,11206,end climb,SURFACE_DEPTH_REACHED
$STATE,11206,begin surface coast
$FINISH,0.9,1.023353
$STATE,11228,end surface coast,CONTROL_FINISHED_OK
$STATE,11229,begin surface
$SM_CCo,11308,0.00,0.000,0,0,1343,357.15
$SM_GC,1.65,7.55,0.00,0.00,0.026,0.000,0.000,38,1890,1343,-8.01,-1.02,357.15
$IRIDIUM_FIX,2057.14,-15756.91,151002,111122
$TT8_MAMPS,0.028379
$HUMID,69.09
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,24.2,66.800
$10V_AH,9.9,74.125
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.750,109.875,442.675,0.000,0.000,55.487,73.393,304.877,19.000,0.000,17.165,1420.581,6665.807,453.329,2613.137,830.508,33.356,1413.660,0.000,2578.557,0.000,117.269,0.000
$DEVICE_MAMPS,223.964,112.749,751.660,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,526.705,449.835,1483.134,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,44309,775
$CAP_FILE_SIZE,129429,0
$CFSIZE,260165632,216256512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210713,141701,2106.746,-15755.630,36,1.3,36,9.8